Design and Modeling of Anfis Regulator to Compensate Deviations of Mobile Platform of Parallel Cable-Driven Robot

Abstract

The article deals with a description of design and modeling of neuro-fuzzy regulator (ANFIS) which provides a compensation of deviations of mobile platform of parallel cable-driven robot. The regulator uses adjusting of lengths of unwounded cables. Evaluation of the control system has been made according to the quality criterion as an elongation of each cable comparatively to given values.